High-Flexibility Locomotion and Whole-Torso Control for a Wheel-Legged Robot on Challenging Terrain
Kang Xu,Shoukun Wang,Xiuwen Wang,Junzheng Wang,Zhihua Chen,Daohe Liu,Kang Xu,Shoukun Wang,Xiuwen Wang,Junzheng Wang,Zhihua Chen,Daohe Liu
In this paper, we propose a parallel six-wheel-legged robot that can traverse irregular terrain while carrying objectives to do heavy-duty work. This robot is equipped with six Stewart platforms as legs and tightly integrates the additional degrees of freedom introduced by the wheels. The presented control strategy with physical system used to adapt the diverse degrees of each leg to irregular ter...
